Detection and Measuring Distance of Crack and Object Obstacle in Pipeline Using Inspection Robot

Pipelines are very significant tool as they are used in many different industries for various applications such as transportation of gas, water, fuel oils, etc. Over time, they are prone to aging, corrosion, cracks, mechanical damage etc. and ignorance of these problems leads to accidents which incurs huge losses in terms of both economy and lives. This highlights the inevitable need to inspect pipes at a regular interval for the purpose of security and improved efficiency in industrial plants. Hence, this paper aims to propose an autonomous robot used for in-pipe inspection which provides easy way of detecting crack and obstacle inside the pipe. The mechanical model of the pipe inspection robot consists of a central rod upon which a translational element is fitted. The basic design is further connected with the help of links which helps in giving adaptability to variations in diameter which ranges from 6 inch to 8 inch. DC motors with the rating of 9V and 35 rpm are attached to the wheels to move the robot forward and backward. Another set of wheels are provided to give the necessary grip to the robot. The electronic circuit is developed, consisting of an H Bridge and Arduino Uno which in turn controls the entire connection of DC motors and sensors. The robot allows for detection of cracks and obstacles inside the pipe and also allows us to communicate with it through ZigBee.